Floors of offshore platform decks consist of steel plates suppoted by a steel beam grid. The individual grid compartments are generally rectangles, with fillet welds between the beam flanges and the deck which have to be continuous and watertight against corrosion. Welding is done in the 2F-position. To automate the gas metal arc welding of this type of unwieldy workpiece requires a mobile robot relying on sensor quidance. This paper describes algorithms and experiments leading to an adapted robot system carrying a single optical profile sensor, enabling the uninterrupted automatic welding of entire quadrangles.
Sensor-based tracking of large quadrangular weld seam paths
Sensorgestuetzte Wegverfolgung von grossen viereckigen Schweissnahtpfaden
1985
11 Seiten, 10 Bilder, 3 Quellen
Conference paper
English
ROBOTER , METALLLICHTBOGENSCHWEISSEN , TRAEGERROST , GEOMETRISCHE FORM , SCHWEISSNAHTLAGE , SCHWEISSNAHTFORM , VERBINDUNGSGUETE , AUTOMATISIERUNG , KEHLNAHT , AUFNEHMER (SENSOR) , STEUERUNGSSYSTEM , KONTROLLEINRICHTUNG , PHOTOELEKTRISCHER AUFNEHMER , VERSUCHSAUFBAU , OFFSHORE-PLATTFORM , SCHWEISSNAHT , PHOTOELEKTRISCHES BAUELEMENT , PLATTFORMDECK
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